#!/bin/sh
#
# @name Holybro Kopis 2
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Beat Kueng <beat@px4.io>
#
# @board px4_fmu-v2 exclude
#

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
	param set BAT_N_CELLS 4

	param set GPS_1_CONFIG 0
	param set RC_PORT_CONFIG 201

	param set IMU_GYRO_CUTOFF 120
	param set MC_DTERM_CUTOFF 0

	param set MC_ROLLRATE_P 0.036
	param set MC_ROLLRATE_I 0.25
	param set MC_ROLLRATE_D 0.0006
	param set MC_ROLLRATE_MAX 1600
	param set MC_ROLL_P 10

	param set MC_PITCHRATE_P 0.036
	param set MC_PITCHRATE_I 0.32
	param set MC_PITCHRATE_D 0.0004
	param set MC_PITCHRATE_MAX 1600
	param set MC_PITCH_P 10

	param set MC_YAWRATE_MAX 1000
	param set MC_YAWRATE_P 0.04
	param set MC_YAW_P 4

	param set MOT_ORDERING 1
	param set MPC_MANTHR_MIN 0
	param set MPC_MAN_TILT_MAX 60
	param set PWM_MAX 1950
	param set PWM_MIN 1075
	param set PWM_RATE 400

	param set OSD_ATXXXX_CFG 1

	param set THR_MDL_FAC 0.7

	param set MPC_THR_CURVE 1
	param set MPC_THR_HOVER 0.12

	param set MC_AIRMODE 1

	param set EV_TSK_RC_LOSS 1
fi

